An apparatus, system, and method for calibrating an electromagnetic sensor of a vehicle. calibration is performed by positioning a calibration apparatus at known positions relative to the electromagnetic sensor of the vehicle, and taking measurements with respect to each known position. The calibration apparatus disclosed herein further comprises adjustable components.
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1. An electromagnetic sensor calibration apparatus operable to calibrate an electromagnetic sensor of a vehicle in conjunction with a diagnostic tool configured to place the vehicle's electromagnetic sensor system into a calibration mode, the apparatus comprising:
a tracking-alignment reference structure configured to provide a transverse axis to a wheel-tracking of the vehicle;
a primary alignment structure having a first sub-structure configured to be substantially horizontal during calibration, a second sub-structure coupled to the first sub-structure and configured to be substantially upright during calibration, a reflective-surface plate coupled to the second sub-structure and operable to reflect electromagnetic waves emitted from the electromagnetic sensor, and a verticality instrument configured to measure the alignment of the reflective-surface plate with respect to a horizontal plane; and
a linear-distance instrument operable to align the reflective-surface plate to be substantially parallel to the transverse axis,
wherein the reflective-surface plate is coupled to the second sub-structure such that the reflective-surface olate may be adjusted to an angle with respect to the second sub-structure, and
wherein the reflective-surface plate is coupled to the second sub-structure in part by a number of spring-loaded screws and in part by a pivoting connective structure, wherein the pivoting connective structure forms a pivot point between the reflective-surface plate and the second sub-structure, and wherein the second sub-structure further comprises a crossbar offset from both the spring-loaded screws and the pivoting connective structure, the crossbar further coupled to a quick-adjustment pivot mechanism in contact with the reflective-surface plate, the quick-adjustment pivot mechanism operable to tilt the reflective-surface plate about the pivot point between the reflective-surface plate and the second sub-structure.
14. An electromagnetic sensor calibration system operable to calibrate an electromagnetic sensor of a vehicle, the system comprising:
a diagnostic tool configured to communicate with the vehicle's electromagnetic sensor system to calibrate the electromagnetic sensor;
a tracking-alignment reference structure configured to provide a transverse axis to a wheel-tracking of the vehicle by contacting rear wheels on the vehicle;
a primary alignment structure having a first sub-structure configured to be substantially horizontal during calibration, a second sub-structure coupled to the first sub-structure and configured to be substantially upright during calibration, a reflective-surface plate coupled to the second sub-structure and operable to reflect electromagnetic waves emitted from the electromagnetic sensor, and a verticality instrument coupled to the reflective-surface plate, the verticality instrument configured to measure the alignment of the reflective-surface plate with respect to a horizontal plane and aid placement of the reflective-surface plate in a substantially perpendicular alignment with the horizontal plane; and
a linear-distance instrument operable to align the reflective-surface plate to be substantially parallel to the transverse axis,
wherein the reflective-surface late is coupled to the second sub-structure such that the reflective-surface plate may be adjusted to an angle with respect to the second sub-structure, and wherein the reflective-surface plate is coupled to the second sub-structure in art by a number of spring-loaded screws and in part by a pivoting connective structure, wherein the pivoting connective structure forms a pivot point between the reflective-surface plate and the second sub-structure, and wherein the second sub-structure further comprises a crossbar offset from both the spring-loaded screws and the pivoting connective structure, the crossbar further coupled to a quick-adjustment pivot mechanism in contact with the reflective-surface plate, the quick-adjustment pivot mechanism operable to tilt the reflective-surface olate about the pivot point between the reflective-surface plate and the second sub-structure.
15. A method for utilizing a portable electromagnetic sensor calibration system comprising a foldable primary alignment structure to calibrate an electromagnetic sensor of a vehicle having a plurality of wheels, the method comprising:
unfolding a first sub-structure from a second sub-structure of the primary alignment structure, the primary alignment structure having a reflective-surface plate operable to reflect electromagnetic waves emitted by the electromagnetic sensor;
placing the reflective-surface plate at a known distance from the electromagnetic sensor and at an angle perpendicular to a wheel-tracking direction of the vehicle:
adjusting a tilt of the reflective-surface plate such that the reflective-surface plate is perpendicular to a horizontal plane;
acquiring from the electromagnetic sensor a first calibration measurement of the known distance and tilt of the reflective-surface plate relative to the electromagnetic sensor;
adjusting the tilt of the reflective-surface plate to a predetermined obtuse angle to the horizontal plane;
acquiring from the electromagnetic sensor a second calibration measurement of the known distance and tilt of the reflective-surface plate relative to the electromagnetic sensor;
adjusting the tilt of the reflective-surface plate such that the reflective-surface plate is at a predetermined acute angle to the horizontal plane;
acquiring from the electromagnetic sensor a third calibration measurement of the known distance and tilt of the reflective-surface plate relative to the electromagnetic sensor; and
using the calibration measurements of the electromagnetic sensor to determine calibration errors of the electromagnetic sensor,
wherein the tilt of the reflective-surface plate is adjusted using a) a height-adjustable foot structure on to the primary alignment structure to adjust the tilt of the entire primary alignment structure including the reflective-surface plate, b) a connective joint disposed between the reflective-surface plate and a first sub-structure of the primary alignment structure to tilt the reflective-surface plate relative the first sub-structure, and c) a quick-adjustment pivot mechanism disposed between a the reflective-surface plate and the second sub-structure of the primary alignment structure to tilt the reflective-surface plate relative to the second sub-structure, the quick-adjustment pivot mechanism having a plurality of measured insertion points and utilizing a removeable pin configured to be inserted into one of the measured insertion points, each of the plurality of insertion points corresponding to a particular tilt measurement of the reflective-surface plate.
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the first sub-structure comprises a plurality of adjustable foot structures operably coupled thereto, at least one of the plurality of foot structures being height-adjustable such that the vertical angle of the reflective-surface plate is finely adjusted during calibration;
wherein the second sub-structure is coupled to the first sub-structure using a connective joint, the connective joint operable to permit angle adjustments between the first sub-structure and the second sub-structure such that the reflective-surface plate is finely adjusted with respect to its angle formed with the first sub-structure.
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This disclosure relates to the calibration of electromagnetic sensors, and in particular relates to a portable apparatus, system, and method of calibrating an electromagnetic sensor of a vehicle.
Onboard sensors in a vehicle are useful safety devices that are increasingly common. Onboard sensors can provide vehicle operators and passengers with useful information about the surrounding environment, or may provide data to other vehicular systems to enhance the performance of those systems. Electromagnetic sensors make use of reflections of waves in the electromagnetic spectrum to measure distances, positions, and speeds of objects in the vehicle's operating environment.
Sensors require calibration to function properly and to assure accurate measurements. Calibration of sensors on vehicles are typically performed using a diagnostic tool connected to the sensor in conjunction with a specialized calibration tool. Existing calibration tools often take the form of large apparatuses that are immobile, difficult to position properly in relation to the vehicle, difficult to adjust during the calibration process, made using fragile components, and costly. It is therefore desirable for a calibration apparatus that is more compact, easier to position in relation to the vehicle, easier to adjust during the calibration process, composed of more robust materials, and less costly.
An embodiment of the disclosed invention, is directed to an electromagnetic sensor calibration apparatus to calibrate an electromagnetic sensor of a vehicle in conjunction with a diagnostic tool. The apparatus comprises a primary alignment structure having a reflective-surface plate operable to reflect electromagnetic waves emitted by the electromagnetic sensor. The apparatus further comprises a tracking-alignment reference structure that is used to determine the proper placement of the primary alignment structure, and to align the primary alignment structure such that the reflective-surface plate is perpendicular to the direction of the vehicle's wheel-tracking. The apparatus further comprises a verticality instrument to determine the proper upright angle of the reflective-surface plate. The apparatus further comprises a linear-distance instrument to properly position and align the primary alignment structure and the tracking-alignment reference structure.
In another aspect of the invention, the reflective-surface plate of the primary alignment structure may be adjusted with respect its vertical tilt. In a preferred embodiment, the reflective-surface plate tilt adjustment may be accomplished using height-adjustable feet affixed to the primary alignment structure to adjust the tile of the entire primary alignment structure, using an angle-adjustable connective joint to position the portion of the primary alignment structure substantially supporting the reflective-surface plate, and using a quick-adjustment pivot mechanism to quickly adjust the alignment of the reflective-surface plate in relation to the supporting portion of the primary alignment structure.
In another aspect of the invention, the primary alignment structure is substantially foldable and the tracking-alignment reference structure may be removeably attached to the primary alignment structure such that the apparatus is more compact for travel or storage.
In another aspect of the invention, the apparatus is used for performing a method of calibrating an electromagnetic sensor of a vehicle.
The above aspects of this disclosure and other aspects will be explained in greater detail below with reference to the attached drawings.
The illustrated embodiments are disclosed with reference to the drawings. However, it is to be understood that the disclosed embodiments are intended to be merely examples that may be embodied in various and alternative forms. The figures are not necessarily to scale and some features may be exaggerated or minimized to show details of particular components. The specific structural and functional details disclosed are not to be interpreted as limiting, but as a representative basis for teaching one skilled in the art how to practice a preferred embodiment.
In the illustrated embodiment electromagnetic sensor 150 is a forward-facing sensor of the vehicle 160, but one of ordinary skill will recognize alternative configurations. In one embodiment, electromagnetic sensor 150 is configured to emit and detect radar signals, but other forms of electromagnetic waves may be used including infrared (1R) signals, ultraviolet (UV) signals, visible-light spectrum signals, or other electromagnetic waves known within the art.
Reflective-surface plate 204 provides a surface upon which emitted electromagnetic waves 155 will reflect back toward electromagnetic sensor 150 during calibration (see
During calibration, the proper positioning of the reflective-surface plate 204 relative to electromagnetic sensor 150 is desired to ensure accurate calibration measurements. Reflective-surface plate 204 is positioned at particular degrees of verticality, or particular degrees of an upright angle with respect to a true horizontal plane. To achieve particular verticality, verticality instrument 206 provides verticality measurements with respect to reflective-surface plate 204. In one embodiment, verticality measurements are accurate to within 0.05 degrees. In one embodiment, verticality instrument 206 is attached to reflective-surface plate 204, but other configurations known to one of ordinary skill are additionally contemplated. In one embodiment, verticality instrument 206 is a digital level tool, but alternative contemplated embodiments include a bubble-level tool, an electronic level, a laser line level, or other equivalents known to one of ordinary skill in the art. Reflective-surface plate 204 is additionally positioned at a distance from the electromagnetic sensor 150. To achieve proper distance placement, linear-distance instrument 208 provides distance measurements with respect to reflective-surface plate 204. In the shown embodiment, linear-distance instrument 208 is coupled to primary alignment structure 100 such that it is aligned to measure the distance from reflective-surface plate 204, but other configurations known to one of ordinary skill are additionally contemplated. In one embodiment, linear-distance instrument 208 is an optical rangefinder, but alternative contemplated embodiments include a sonic rangefinder, a tape measure, a fixed-length cable, a fixed-length rigid measurement tool, or other equivalents known to one of ordinary skill in the art.
In one embodiment, the distance between reflective-surface plate 204 and electromagnetic sensor 150 during calibration is 1.0-1.5 meters. Because the electromagnetic sensor 150 may be disposed within the vehicle 160 in a manner preventing accurate direct linear-distance measurement, primary alignment structure 100 may be positioned at a known distance and angle with respect to tracking-alignment reference structure 130. Tracking-alignment reference structure 130 is placed at a known external position with respect to the vehicle 160, the known external position being at a known distance from electromagnetic sensor 150 and determined by the specifications of vehicle 160. In one embodiment, tracking-alignment reference structure 130 is placed in a position perpendicular to the wheel-tracking direction of the vehicle 160 near the rearmost wheels of the vehicle, though other positions are contemplated. The tracking-alignment reference structure 130 may be placed on the ground behind the vehicle 160 and slid forward chucking opposing ends of the tracking-alignment reference structure 130 between the ground and the rear side of the rear tires of the vehicle 160. With the tracking-alignment reference structure 130 in this position, the primary alignment structure 100 may be positioned such that the reflective-surface plate 204 is at a known distance and parallel angle to the tracking-alignment reference structure 130. In one embodiment, a pair of linear-distance instruments 208 disposed on either side of primary alignment structure 201 are used to determine proper positioning in relation to tracking-alignment reference structure 130, though alternative equivalents will be readily recognized by one of ordinary skill.
Advantageously, if the tracking-alignment reference structure 130 is aligned to the wheel-tracking direction of the vehicle 160, the electromagnetic sensor 150 may be calibrated with reflective-surface plate 204 being perpendicular to the actual direction of forward motion of vehicle 160 when it is driven. Thus, an accuracy of an electromagnetic sensor 150 used for the detection of oncoming objects while a vehicle 160 is being driven is preserved during calibration, even if there is misalignment between the chassis of the vehicle 160 and the direction of forward motion.
With further respect to
Height-adjustable foot structures 210 are advantageous because they permit primary alignment structure 100 to be positioned on an uneven surface while maintaining stability. A further recognized advantage is because the height-adjustable foot structures 210 are individually adjustable, an angle θ between first sub-structure 201 and floor surface 350 may be adjusted by selective adjustment of individual foot structures 210. If α′ is maintained during this adjustment, selective adjustment of individual foot structures 210 will yield a further adjustment of the verticality of reflective-surface plate 204. Thus, foot structures 210 provide a mechanism for fine adjustment of β and β′ using selective height adjustment thereof. For example, in the depicted embodiment of
Connective joint 212 coupling first sub-structure 201 and second sub-structure 202 may provide the pivot point for angle α between the two sub-structures. Connective joint 212 may also provide an option for adjustment of the verticality of reflective-surface plate 204. In another embodiment, the connective joint 212 provides for the primary alignment structure to be folded upon itself (see
With respect to
As shown in
With further respect to
At step 700, diagnostic tool 140 is connected to electromagnetic sensor 150. At step 702, the tracking-alignment reference structure 130 is positioned in relation to vehicle 160 at a transverse axis to the wheel-tracking of vehicle 160. At step 704, primary alignment structure 100 is positioned such that the reflective-surface plate 204 is parallel to the tracking-alignment reference structure 130 at a known calibration distance. In the described embodiment, tracking-alignment reference structure 130 is placed in a transverse axis to the wheel-tracking of the rearmost wheels of vehicle 160. One of ordinary skill will recognize that other placements can be used. The known distance between the primary alignment structure 100 and tracking-alignment structure 130 is determined based upon the specification of vehicle 160, more specifically in relation to the location of the electromagnetic sensor 150 within vehicle 160. Proper placement of the primary alignment structure 100 will yield a configuration such that the electromagnetic sensor 150 on the vehicle is a required calibration distance away from the reflective-surface plate 204, and disposed between the reflective-surface plate 204 and the tracking-alignment reference 130. Proper placement of the primary alignment structure 100 will further advantageously provide calibration of electromagnetic sensor 150 with respect to the direction of forward motion of vehicle 160. The particular calibration distance is determined by the specification of the electromagnetic sensor 150. In one embodiment herein, the required calibration distance is 24 inches, but one of ordinary skill will recognize that any distance that is proper for the electromagnetic sensor 150 can be achieved in the manner disclosed herein.
At step 706, the reflective-surface plate 204 is positioned at a first known angle with respect to a true horizontal plane 300. Reflective-surface plate 204 is coarsely positioned in a substantially upright position using connective joint 212 by adjusting the angle between first sub-structure 201 and second sub-structure 202 and held in, position by lock lever 508 of connective joint 212. The particular angle of reflective-surface plate 204 is then finely-adjusted until the desired angle of verticality is indicated on verticality instrument 206. In the described embodiment, fine adjustments to verticality are accomplished by selective adjustment of height-adjustable foot structures 210 until verticality instrument 206 indicates that reflective-surface plate 204 has a verticality of 88 degrees while pin 414 is inserted into measured insertion point 416a.
At step 708, the diagnostic tool acquires a first calibration measurement of the known calibration distance at the first known angle.
At step 710, the reflective-surface plate 204 is re-positioned to a second known angle with respect to true horizontal plane 300. Advantageously, the fine angle-adjustment between the first known angle and the second known angle may be achieved using quick-adjustment pivot mechanism 216. Quick-adjustment pivot mechanism 216 includes quick-adjustment pivot mechanism body 415 having measured insert points 416. Each of measured insertion points 416 is spaced such that when pin 414 is used to couple quick-adjustment mechanism body 415 to crossbar 214, a different angle γ is produced between reflective-surface plate 204 and second sub-structure 202. Each of measured insertion points 416 corresponds to a different displacement resulting in a value of γ that is needed during the calibration process. The second known angle may therefore be achieved by directly displacing reflective-surface plate 204 into the desired second known angle from the first known angle. In this disclosed embodiment, pin 414 is moved from measured insertion point 416a to measured insertion point 416b, resulting in verticality for reflective-surface plate 204 of 90 degrees.
At step 712, the diagnostic tool acquires a second calibration measurement of the known calibration distance at the second known angle.
At step 714, the reflective-surface plate 204 is re-positioned to a third known angle with respect to true horizontal plane 300. Advantageously, adjustment to the third known angle may be achieved using the quick-adjustment pivot mechanism 216 as detailed with respect to step 710. In this disclosed embodiment, pin 414 is moved from measured insertion point 416b to measured insertion point 416c, resulting in verticality for reflective-surface plate 204 of 92 degrees.
At step 716, the diagnostic tool acquires a third calibration measurement of the known calibration distance at the third known angle.
At step 718, the diagnostic tool uses the calibration measurements to determine the calibration errors of electromagnetic sensor 150. Using the determined calibration errors, the diagnostic tool makes corrections to the operation of electromagnetic sensor 150 to compensate for the errors.
In one embodiment, at least one of the three known angles of verticality is perpendicular (90 degrees) from the horizontal plane. In the same embodiment, the other known angles are ±2 degrees from perpendicular (i.e., 88 degrees and 92 degrees). The exact angles of reflective-surface plate 204 may vary based on the specification of electromagnetic sensor 150. One of ordinary skill in the art will recognize that because connective joint 212 permits any angle between first sub-structure 201 and second sub-structure 202 between 0 and 180 degrees any known angle of reflective-surface plate 204 specified for electromagnetic sensor 150 may be achieved.
One of ordinary skill in the art will recognize that the angle-adjustment limits of quick-adjustment pivot mechanism 216 are dependent upon the total length of spring-loaded screw 422. In one embodiment, spring-loaded screw 422 is sufficiently long to permit total angle-adjustments of up to 8 degrees.
One of ordinary skill in the art will recognize that the angle-adjustment limits of height-adjustable foot structures 210 are dependent upon their complete range of height adjustment values. In one embodiment, height-adjustable foot structures 210 provide sufficient height adjustments to permit total angle-adjustments of up to 8 degrees.
The method of
While exemplary embodiments are described above, it is not intended that these embodiments describe all possible forms of the disclosed apparatus and method. Rather, the words used in the specification are words of description rather than limitation, and it is understood that various changes may be made without departing from the spirit and scope of the disclosure as claimed. The features of various implementing embodiments may be combined to form further embodiments of the disclosed concepts.
Conrad, Michael, Prusinowski, Andrew, Pendygraft, Robert
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Sep 11 2017 | PRUSINOWSKI, ANDREW | BOSCH AUTOMOTIVE SERVICE SOLUTIONS INC | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 047423 | /0768 | |
Sep 11 2017 | PRUSINOWSKI, ANDREW | Robert Bosch GmbH | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 047423 | /0768 | |
Sep 15 2017 | PENDYGRAFT, ROBERT | BOSCH AUTOMOTIVE SERVICE SOLUTIONS INC | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 047423 | /0768 | |
Sep 15 2017 | PENDYGRAFT, ROBERT | Robert Bosch GmbH | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 047423 | /0768 | |
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Sep 18 2017 | CONRAD, MICHAEL | Robert Bosch GmbH | ASSIGNMENT OF ASSIGNORS INTEREST SEE DOCUMENT FOR DETAILS | 047423 | /0768 | |
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